Oriented Control System Research Articles

Necessary and sufficient conditions for global asymptotic of nonlinear satellite orientation control system stability

Necessary and sufficient conditions for global asymptotic of nonlinear satellite orientation control system stability

Design and experiment of Panax notoginseng root orientation transplanting device based on YOLOv5s.

Consistent root orientation is one of the important requirements of Panax notoginseng transplanting agronomy. In this paper, a Panax notoginseng orientation transplanting method based on machine vision technology and negative pressure adsorption principle was proposed. With the cut-main root of Panax notoginseng roots as the detection object, the YOLOv5s was used to establish a root feature detection model. A Panax notoginseng root orientation transplanting device was designed. The orientation control system identifies the root posture according to the detection results and controls the orientation actuator to adjust the root posture. The detection results show that the precision rate of the model was 94.2%, the recall rate was 92.0%, and the average detection precision was 94.9%. The Box-Behnken experiments were performed to investigate the effects of suction plate rotation speed, servo rotation speed and the angle between the camera and the orientation actuator(ACOA) on the orientation qualification rate and root drop rate. Response surface method and objective optimisation algorithm were used to analyse the experimental results. The optimal working parameters were suction plate rotation speed of 5.73 r/min, servo rotation speed of 0.86 r/s and ACOA of 35°. Under this condition, the orientation qualification rate and root drop rate of the actual experiment were 89.87% and 6.57%, respectively, which met the requirements of orientation transplanting for Panax notoginseng roots. The research method of this paper is helpful to solve the problem of orientation transplanting of other root crops.

Automated Control System for Transportation and Orientation of Canisters on a Conveyor

Automated Control System for Transportation and Orientation of Canisters on a Conveyor

The effect of Knowledge Management, Entrepreneurial Orientation, Transformational Leadership, and Management Control System on Learning Organization

This study investigates the strategy for developing an organizational learning culture at PT Bank Syariah Indonesia Branch Office Jakarta Bendungan Hilir. It employs four independent variables, namely knowledge management, entrepreneurial orientation, transformational leadership, and control management systems, with organizational learning as the dependent variable. The survey method is used, and data is collected through a questionnaire administered to all employees, with a sample of 71 respondents analyzed using SPSS 25. The findings indicate that knowledge management, entrepreneurial orientation, transformational leadership, and control management systems do not directly impact organizational learning. However, when considered collectively, these factors significantly influence the formation of an organization's learning culture, accounting for 71.9% of the variance. This study examines the collective impact of knowledge management, entrepreneurial orientation, transformational leadership, and control management systems on developing an organizational learning culture. The findings provide organizations with valuable insights to make informed decisions that enhance learning capabilities and cultivate a culture prioritizing continuous learning and improvement. Recognizing the significance of these factors enables organizations to shape their practices and policies, fostering a strong learning environment, facilitating knowledge sharing, and driving innovation.

A Spatial Configuration Oriented Control System as a Mobile App for Educational Facilities Design in Turkey

Facilities has decreased due to the developing technologies around the world. The main objective of this study is to offer an alternative solution in terms of architecture to the use of copy-type projects which are still used by the Ministry of Education in Turkey. In this direction, it is aimed to develop a software to make the spatial configuration of an educational structure in the design process controllable. In this study it is planned to design a feedback mechanism that architects can use in the educational structure design process. The data obtained as a result of expert interviews, examination of guidelines by the ministry and examination of existing types of projects with the space syntax technique were transformed into software language. As a result of analysis done, evaluations were presented in line with the obtained data and findings. Out of these a pre-notification mechanism was designed to be used in the design process of educational buildings. The feedback system, which is defined as educational buildings in the current article, can be applied in different areas such as clinics, hospitals, shopping centres and university buildings in the next stages. By using the mobile application that is emerged as a result of the research, the designers will be able to identify problematic spatial relationships by providing data to the application at different stages in the process of designing an educational structure. Thus, it will be able to intervene in a timely manner based on the problems it detects.

Torque Ripple Reduction of PMSM Based on Modified DBN-DNN Surrogate Model

Due to the nonlinearity and dead time of the inverter, a great number of harmonic components is introduced into the motor input current, causing the torque ripple of the motor. The paper aims to suppress the torque ripple of a low-speed and high-torque permanent magnet synchronous motor (PMSM) with a two-step stator voltage optimization method, including a high precision harmonic voltage injection (HPHVC) method and a deep belief network (DBN)-deep neural network (DNN) voltage prediction model. Firstly, a closed-loop harmonic current detection system with Type-II Chebyshev filter is adopted to enhance the harmonic current extraction accuracy. Secondly, a harmonic voltage algorithm is designed considering the dq-axis current coupling relationship, which improves the accuracy of harmonic voltage calculation. Thirdly, a dq-axis voltage prediction model is constructed using DBN-DNN algorithm as the surrogate model, which further reduces the current harmonic components caused by the harmonic injection structure and the PI control algorithm, reduces the torque pulsation of the motor, and boosts the dynamic performance of the motor. Finally, the experimental platform is constructed by embedding the proposed strategy into the field oriented control system for reducing the torque pulsation. The experimental results verify the proposed strategy.

Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots.

For legged robots, aerial motions are the only option to overpass obstacles that cannot be circumvented with standard locomotion gaits. In these cases, the robot must perform a leap to either jump onto the obstacle or fly over it. However, these movements represent a challenge, because, during the flight phase, the Center of Mass (CoM) cannot be controlled, and there is limited controllability over the orientation of the robot. This paper focuses on the latter issue and proposes an Orientation Control System (OCS), consisting of two rotating and actuated masses (flywheels or reaction wheels), to gain control authority on the orientation of the robot. Due to the conservation of angular momentum, the rotational velocity if the robot can be adjusted to steer the robot's orientation, even when the robot has no contact with the ground. The axes of rotation of the flywheels are designed to be incident, leading to a compact orientation control system that is capable of controlling both roll and pitch angles, considering the different moments of inertia in the two directions. The concept was tested by means of simulations on the robot Solo12.

Environmentally oriented control systems

Environmental safety is currently gaining popularity in all areas of human activity. The release of various inorganic and organic chemicals in various industries, textile, pharmaceutical, agricultural and tanneries, is highly toxic to the environment and human health. In order to manage these impacts, it is necessary to prioritize environmental aspects in order to focus on those that will be recognized as more significant and have a greater impact on the environment. The main factors of an environmentally friendly product are production from natural raw materials, in environmentally friendly areas, away from industrial centers. The greening of agricultural activities and the transition of producers to the production of an environmentally friendly product, organic products is relevant, since it is the safety of food raw materials and food products that is one of the main factors determining people's health.

Electrohydraulic high‑accuracy position and orientation control system of the primary mirror for a large-aperture high resolution telescope

Electrohydraulic high‑accuracy position and orientation control system of the primary mirror for a large-aperture high resolution telescope

Micro-satellite orientation control system with rotation wheels

The task of developing a microsatellite orientation control system using rotation wheels with limited control moments is under consideration. For the synthesis of control laws by the method of analytical construction of optimal regulators by minimization of the integral-quadratic functional, the dynamic equations of the rotational motion of the satellite are linearized. The governing bodies of the satellite are three rotation wheels and magnetic coils. Algorithms for controlling the satellite during stabilization, turning and stabilization of the angular position have been developed. Algorithms are tuned depending on the parameters of the satellite and ensure its stable movement in all modes. Considered examples of simulation the satellite movement using full nonlinear models, which showed the effectiveness and universality of the algorithms. The effectiveness of control algorithms for the use of the rotation wheels and magnetic coils is compared.

Fuzzy adaptive trajectory tracking control of work-class ROVs considering thruster dynamics

Work-class remotely operated vehicles (ROVs) are widely used in oceanic observation and underwater operation, which are driven by hydraulic power. A fuzzy adaptive controller considering thruster dynamics is proposed to improve the trajectory tracking performance of work-class ROVs in this paper. The dynamics of the hydraulic motor driven thruster is much higher than the position and orientation tracking ability of work-class ROVs. Thus, the system is divided into two separate subsystems: out-loop position and orientation control system, and inner-loop hydraulic control system. A fuzzy adaptive algorithm is employed in the out-loop position and orientation controller, which estimates the system parameters and disturbances respectively. A disturbance observer is used in the inner-loop hydraulic controller to attenuate the uncertainties and disturbances. A second order filter is adopted to synthesize these two controllers, which generates a smooth hydraulic motor speed command with appropriate bandwidth and range. The stability of the whole control system is proved through Lyapunov theory. Simulation results demonstrate the effectiveness of the proposed trajectory tracking control strategy under parameter uncertainties and disturbances.

ENGINEERING PRACTICE OF SETTING A FIELD ORIENTED CONTROL SYSTEM FOR INDUCTION ELECTRIC DRIVE OF PIPELINE VALVES BASED ON EQUIVALENT CIRCUIT PARAMETERS, ESTIMATED BY FALLING PHASE CURRENT CURVE

To support modern requirements for an induction electric drive of pipeline valves, the most promising is the organization of a filed oriented control system, the setting of which is extremely difficult without the parameters of the equivalent circuit of an induction machine. This article provides a technique of setting a field oriented control system for induction electric drive of pipeline valves based on equivalent circuit parameters, estimated by falling phase current curve. The main aim of the research is to test the functioning of an induction filed oriented electric drive using a load stand, the setting of which is made on the basis of parameters previously estimated by falling phase current curve. Methods. To achieve the goal of the research, theoretical and experimental research methods were used. Theoretical research methods include the theory of electric drive, the theory of automatic control systems, the theory of electrical machines. Experimental research were carried out using a load stand that provides the required level of load on the shaft of the tested induction machine. Results. Suggested the technique of setting a field oriented control system for induction electric drive of pipeline valves based on equivalent circuit parameters, estimated by falling phase current curve. Relative values of deviations of current, speed and torque are obtained at the nominal level of load on the shaft of an induction machine. The applicability of the proposed technique using a loading stand was confirmed.

TECHNIQUE OF SETTING UP A PIPELINE VALVE ELECTRIC ACTUATORS CONTROL SYSTEM USING THE EQUIVALENT CIRCUIT PARAMETERS, ESTIMATED BY FALLING CURRENT CURVE

To support modern requirements for an induction electric drive of pipeline valves, the most promising is the organization of a filed oriented control system, the setting of which is extremely difficult without the parameters of the equivalent circuit of an induction machine. This article provides a technique of setting a field oriented control system for induction electric drive of pipeline valves based on equivalent circuit parameters, estimated by falling phase current curve. The main aim of the research is to test the functioning of an induction filed oriented electric drive using a load stand, the setting of which is made on the basis of parameters previously estimated by falling phase current curve. Methods. To achieve the goal of the research, theoretical and experimental research methods were used. Theoretical research methods include the theory of electric drive, the theory of automatic control systems, the theory of electrical machines. Experimental research were carried out using a load stand that provides the required level of load on the shaft of the tested induction machine. Results. Suggested the technique of setting a field oriented control system for induction electric drive of pipeline valves based on equivalent circuit parameters, estimated by falling phase current curve. Relative values of deviations of current, speed and torque are obtained at the nominal level of load on the shaft of an induction machine. The applicability of the proposed technique using a loading stand was confirmed.

АЛГОРИТМ ПРЕДВАРИТЕЛЬНОЙ ИДЕНТИФИКАЦИИ ПАРАМЕТРОВ СХЕМЫ ЗАМЕЩЕНИЯ АСИНХРОННОЙ МАШИНЫ С КОРОТКОЗАМКНУТЫМ РОТОРОМ ПО КРИВОЙ ЗАТУХАНИЯ ФАЗНОГО ТОКА

Relevance The construction of the most popular and widespread, according to the author, a field oriented control system for squirrel-cage (SC) induction machine (IM) is based on the use of a linear mathematical model IM, the parameters of which are represented by a T-shaped equivalent circuit without taking into account magnetic core loses. The most domestic frequency converters (FC) do not have a built-in universal option for estimation of IM equivalent circuit parameters under the condition of the rotor non-rotatable, which in turn is the standard for the most advanced foreign manufacturers. Thus, the construction of offline identification algorithms is especially important in the development of software for universal domestically produced frequency converters, capable of working with different AM models, which increases their competitiveness. Aim of research To develop an algorithm for off-line identification of non-rotating SC IM equivalent circuit parameters by a stator falling current curve using the differential evolution method based on the obtained analytical mathematical model, and also to check the correctness of the obtained parameter estimates using analysis of regression residuals. Research methods In this study, theoretical and experimental research methods were used. The theoretical methods include: the theory of electric drive, the theory of automatic control systems, the theory of electrical machines, the theory of differential equations, as well as methods for compiling and solving systems of linear and non-linear algebraic equations, direct and inverse Laplace transform, optimization methods. Experimental studies were carried out on a hardware-software complex, where regression analysis methods were used to evaluate the accuracy of the results. Results An adaptive regression mathematical model has been developed that describes in an analytical form the process of SC non-rotating IM stator current falling. Based on the developed adaptive regression mathematical model, an algorithm of induction motor equivalent circuit parameters estimation was formed by the method of differential evolution. Using the analysis of regression residuals, confirmed the correctness of estimated IM equivalent circuit parameters obtained using the developed preliminary identification algorithm based on the experimental falling current curves. Keywords: equivalent circuit, induction machine, analysis of regression residuals, offline identification, differential evolution, optimization

Field oriented control of PMSM drive with backup power supply

The primary purpose of the article is to examine the field oriented control system of permanent magnet synchronous machine (PMSM) electric drive with backup power supply. Authors propose to use bi-directional DC-DC converter to ensure the «hot» backup operation mode in case of grid fault. The change-over switching system, which provide transfer of voltage-source inverter (VSI) from DC link to the backup power source is considered. The presented system provides a good dynamic transient process; the results are confirmed by simulation in Psim software. Moreover, based on the results acquired, an electric drive based on PMSM with field oriented control and a backup power supply system from the battery via a bi-directional DC-DC converter is capable of operating according to the principles of «hot» backup.

A Mathematical Model for Controlling a Quadrotor UAV

Abstract Given the recent surge in interest in UAVs and their potential applications, a great deal of work has lately been done in the field of UAV control. However, UAVs belong to a class of nonlinear systems that are inherently difficult to control. In this study we devised a mathematical model for a PID (proportional integral derivative) control system, designed to control a quadrotor UAV so that it follows a predefined trajectory. After first describing quadrotor flight dynamics, we present the control model adopted in our system (developed in MATLAB Simulink). We then present simulated results for the use of the control system to move a quadrotor UAV to desired locations and along desired trajectories. Positive results of these simulation support the conclusion that a quadrotor UAV spatial orientation control system based on this model will successfully fulfil its task also in real conditions.

ANN Aided Speed Observer and Field Situated Sensor Less Controller for Permanent Magnet Synchronous Engine Drive

Sensorless speed control of permanent magnet synchronous motor (PMSM) remains in progress to beat the prevailing drawbacks like speed ripples, torque ripples, and poor performance at low speeds with no ­load or lightly loaded conditions In this paper, Sensorless Field Oriented Control (FOC) system which is based on artificial neural network (ANN) implementation is proposed. The control system uses the ANN-aided Model Reference Adaptive System (MRAS) for speed estimation. Both the speed estimator and the controller of the proposed system use ANN-based implementations. The performance of the proposed system is analyzed for speed control of PMSM, for various speed and load torque values. The simulation results of the proposed ANN-based speed estimator and controller model demonstrate that the ANN-aided MRAS based estimator has the capability to enhance the performance of the system. Specifically, it reduces the overall complexity and initial speed overshoot by 1% as compared to the conventional controllers employed for PMSM speed control. It also achieves 0.002 rad/s improvements on the steady-state error with acceptable settling and rising time in its dynamic response.

Analysis of micro-acceleration requirements in the context of designing a small technological spacecraft

The paper analyzes the design features of a small technological spacecraft justifying the choice of design parameters and modeling the functioning of the spacecraft in terms of micro-acceleration requirements. These requirements are imposed in order to successfully implement gravitationally sensitive technological processes, determine the possibility and feasibility of their implementation and regulate the choice of design parameters, structural layout diagram and executive bodies of the orientation and motion control system of a small technological spacecraft. The experience of designing, creating and operating medium-class technological spacecraft is generalized and analyzed. Common points and differences are identified and discussed. The approaches proposed in the work and the results obtained can be used in the design of small technological spacecraft.

ОБЗОР МЕТОДОВ ОЦЕНИВАНИЯ ПАРАМЕТРОВ СХЕМЫ ЗАМЕЩЕНИЯ АСИНХРОННОЙ ЭЛЕКТРИЧЕСКОЙ МАШИНЫ ДЛЯ ОРГАНИЗАЦИИ ВЕКТОРНОЙ СИСТЕМЫ УПРАВЛЕНИЯ

Relevance Today, due to the well-known and proven by many years of positive qualities of successful operation, induction machines (IM) have found wide application in various industries [1, 2], as part of motor [3–5] and generator sets [6–8]. The main advantages of an IM include simplicity of design, relatively low cost, the ability to withstand short-term current overloads, the absence of a brush-collector unit and expensive rare-earth magnets [9–14]. The relevance of the use of IM, which has not lost over the years, is confirmed, in particular, by modern manufacturers of electric vehicles [15], for which the issue of the most rational use of electricity is in the first place. The development of the principles of the theory of control of asynchronous controlled electric drives led to the emergence of various IM control methods, implemented in modern microprocessor-based frequency converters. These control methods include U/f control, field oriented control and direct torque control in various modifications and combinations [16–18]. The listed control methods have their own areas of application and are, to varying degrees, demanding on the availability of the parameters of the IM equivalent circuit used as part of the electric drive [19, 20]. Setting incorrect settings of the control system, based to the greatest extent on the parameters of the IM equivalent circuit, can lead to deterioration in the quality of regulation, as well as to a decrease in the energy efficiency of the electric drive [21–24]. It should be noted that the most acute problem with the availability of correct estimates of IM parameters arises when constructing sensorless control systems for electric drives [25]. Aim of research Review and compare the main methods estimation of induction motor equivalent circuit parameters used to organize a closed-loop control system of an electric drive. Research methods In this study, the following methods were used: study of scientific literature, study and generalization of information, comparison. Results The need to find estimations of IM equivalent circuit parameters for organizing a field oriented control system for an electric drive. A comparative analysis is carried out, the advantages and disadvantages of the main groups of methods for finding estimates of the parameters of an IM are described.

Development of a DSP Microcontroller-Based Fuzzy Logic Controller for Heliostat Orientation Control

This paper describes the design and implementation of a heliostat orientation control system based on a low-cost microcontroller. The proposed system uses a fuzzy logic controller (FLC) with the Center of Sums defuzzification method embedded on a dsPIC33EP256MU806 Digital Signal Processor (DSP), in order to modify the orientation of a heliostat by controlling the angular position of two DC motors connected to the axes of the heliostat. The FLC is compared to a traditional Proportional-Integral-Derivative (PID) controller to evaluate the performance of the system. Both the FLC and PID controller were designed for the position control of the heliostat DC motors at no load, and then they were implemented in the orientation control of the heliostat using the same controller parameters. The experimental results show that the FLC has a better performance and flexibility than a traditional PID controller in the orientation control of a heliostat.